URDF and ROS integration of KUKA robots (iiwa and lwr4)
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Install Pinocchio if you have not done so already.
The simplest way to do so is using Conda:
conda install -c conda-forge pinocchio
Alternatively you can use any of the ways listed here: https://stack-of-tasks.github.io/pinocchio/download.html.
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Install bullet_utils:
git clone [email protected]:machines-in-motion/bullet_utils.git
cd bullet_utils
pip3 install .
- Install robot_properties_kuka:
git clone [email protected]:robotics/robot_properties_kuka.git
cd robot_properties_kuka
pip3 install .
Loading KUKA LWR iiwa 14 in PyBullet
import pybullet as p
from bullet_utils.env import BulletEnvWithGround
from robot_properties_kuka.iiwaWrapper import IiwaRobot
env = BulletEnvWithGround(p.GUI)
robot = env.add_robot(IiwaRobot)
- Johannes Pfleging
- Maximilien Naveau
- Sébastien Kleff
Copyright(c) 2018-2023 Max Planck Gesellschaft, New York University
BSD 3-Clause License